Brighton de Jong
Facking kut filter werkt EINDELIJK !311!!111!!1!!!!!!!!!!!!!!!!!!!
Dependencies: HIDScope MODSERIAL Matrix QEI biquadFilter mbed
Fork of
Turning_Motor_V6
by 
Brighton de Jong
Revision 2:dc9766657afb, committed 2018-10-22
- Comitter:
- ThomBMT
- Date:
- Mon Oct 22 08:15:41 2018 +0000
- Parent:
- 1:4bf64d003f3a
- Child:
- 3:c8f0fc045505
- Commit message:
- Counts encoder toegevoegd voor beide motoren
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Mon Oct 22 08:15:41 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/tomlankhorst/code/HIDScope/#d23c6edecc49
--- a/MODSERIAL.lib Mon Oct 15 13:55:45 2018 +0000 +++ b/MODSERIAL.lib Mon Oct 22 08:15:41 2018 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/Sissors/code/MODSERIAL/#da0788f0bd77 +http://mbed.org/users/Sissors/code/MODSERIAL/#a3b2bc878529
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI_Encoder.lib Mon Oct 22 08:15:41 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- a/main.cpp Mon Oct 15 13:55:45 2018 +0000
+++ b/main.cpp Mon Oct 22 08:15:41 2018 +0000
@@ -1,5 +1,8 @@
#include "mbed.h"
#include "MODSERIAL.h"
+#include "HIDScope.h"
+#include "QEI.h"
+
MODSERIAL pc(USBTX, USBRX);
DigitalOut DirectionPin1(D4);
DigitalOut DirectionPin2(D7);
@@ -8,15 +11,46 @@
DigitalIn Knop1(D2);
AnalogIn pot1 (A5);
AnalogIn pot2 (A4);
+AnalogIn emg0( A0 );
+AnalogIn emg1( A1 );
+AnalogIn emg2( A2 );
+AnalogIn emg3( A3 );
-Ticker mycontrollerTicker1;
-Ticker mycontrollerTicker2;
-Ticker Velo1;
-Ticker Velo2;
+Ticker printTicker;
+Ticker mycontrollerTicker1;
+Ticker mycontrollerTicker2;
+Ticker Velo1;
+Ticker Velo2;
+Ticker EMG_Read_Ticker;
+Ticker sample_timer;
+HIDScope scope( 4 );
-//const float maxVelocity=8.4; // in rad/s
+volatile float Bicep_Right = 0.0;
+volatile const float maxVelocity=8.4; // in rad/s
volatile float referenceVelocity1 = 0.5; //dit is de gecentreerde waarde en dus de nulstand
volatile float referenceVelocity2 = 0.5;
+
+volatile int counts1;
+volatile int counts2;
+QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
+QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);
+
+void EMG_Read()
+{
+ Bicep_Right = emg0.read();
+}
+
+void sample()
+{
+
+ scope.set(0, emg0.read() );
+ scope.set(1, emg1.read() );
+ scope.set(2, emg2.read() );
+ scope.set(3, emg3.read() );
+
+ scope.send();
+}
+
void velocity1()
{
@@ -72,15 +106,37 @@
PwmPin2 = fabs(u);
}
+void Printing()
+{
+ float v1 = fabs(referenceVelocity1) * maxVelocity;
+ float v2 = fabs(referenceVelocity2) * maxVelocity;
+
+ //eventueel nog counts -> rad/s
+
+ //pc.printf("%f \n %f snelheid Motor1 \n %f snelheid Motor2 \n", Bicep_Right,v1,v2);
+ pc.printf("%i counts van m1, %i counts van m2", counts1, counts2);
+
+
+}
+
int main()
{
pc.baud(115200);
PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz
+
+ counts1 = Encoder1.getPulses();
+ counts2 = Encoder2.getPulses();
+
+ sample_timer.attach(&sample, 0.002);
+ EMG_Read_Ticker.attach(&EMG_Read, 0.002);
+
mycontrollerTicker1.attach(motor1, 0.002);//500Hz
Velo1.attach(velocity1, 0.002);
mycontrollerTicker2.attach(motor2, 0.002);
Velo2.attach(velocity2, 0.002);
+ printTicker.attach(&Printing, 2.0);
+
while(true)
{
}
--- a/mbed.bld Mon Oct 15 13:55:45 2018 +0000 +++ b/mbed.bld Mon Oct 22 08:15:41 2018 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file +https://os.mbed.com/users/mbed_official/code/mbed/builds/675da3299148 \ No newline at end of file